• SME MR910132
Provide PDF Format

Learn More

SME MR910132

  • Adaptive Control For Robotic Deburring
  • standard by Society of Manufacturing Engineers, 06/01/1991
  • Publisher: SME

$9.00$18.00


THIS PAPER REVIEWS THE SENSING AND CONTROL OF SOME IMPORTANT PARAMETERS THAT DETERMINE AN EFFICIENT AND RELIABLE ROBOTIC DEBURRING PROCESS. THE CONTOUR OF THE SURFACE WHICH CONTAINS THE BURR, THE SIZE, THICKNESS, HARDNESS, AND UNIFORMITY OF THE BURR ARE SUCH PARAMETERS. THE CONTOUR OF THE SURFACE CALLS FOR A ROBOT WITH AN ADEQUATE NUMBER OF DEGREES OF FREEDOM FOR MULTIPLE TRAJECTORY CONTROL; THE REMAINING PARAMETERS IMPLY FORCE AND POSITION CONTROL OF THE ROBOT'S END EFFECTOR. ACCORDINGLY, A CONCEPTUAL MULTI-VARIABLE CONTROLLER FOR DEBURRING ROBOTS AND END-EFFECTOR IS PROPOSED. THE CONTROL SYSTEM IS AN ADAPTIVE FORCE AND POSITION CONTROLLER WHICH ENABLES THE END EFFECTOR TO FOLLOW A WELL-DEFINED TRAJECTORY, AND APPLIES THE REQUIRED FORCE OR TORQUE TO A GIVEN BURR ALONG THE TRAJECTORY. ADDITIONALLY, THE SYSTEM INCLUDES PROPORTIONAL/DERIVATIVE (PD), AND PROPORTIONAL/INTEGRAL/DERIVATIVE (P

Related Products

SME MSR92009

SME MSR92009

Business Strategies For The 21st Century Manufacturing Firm--Using Cim For Competitive Advantage..

$9.00 $18.00

SME MR900517

SME MR900517

Effects Of Grinding Heat Upon Plunge Grinding Process..

$9.00 $18.00

SME MS910268

SME MS910268

On-Site Clean Up Of Small Volumes Of Oily Wastes..

$9.00 $18.00

SME MR94-142

SME MR94-142

Hot Machining In Retrospect And Review..

$9.00 $18.00